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    Method and System for Multi-Mode Coverage For An Autonomous Robot
    231.
    发明申请
    Method and System for Multi-Mode Coverage For An Autonomous Robot 有权
    自主机器人多模式覆盖方法与系统

    公开(公告)号：US20070213892A1

    公开(公告)日：2007-09-13

    申请号：US11671305

    申请日：2007-02-05

    Applicant: Joseph Jones ,  Philip Mass

    Inventor： Joseph Jones ,  Philip Mass

    IPC: G05D1/00

    CPC classification number: B25J11/0085 ,  A47L11/00 ,  B25J9/1694 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D2201/0203 ,  Y10S901/01

    Abstract: A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

    Abstract translation: 提供了一种用于移动机器人（10）的控制系统，以通过以包括障碍物跟随模式（51）和随机反弹模式（49）的多种模式操作来有效地覆盖给定区域。 在其他实施例中，也可以使用诸如螺旋（45）或其他模式的点覆盖来提高效率。 另外，基于行为的体系结构被用于实现控制系统，并且使用各种逃逸行为来确保全面覆盖。

    Mobile Vehicle
    232.
    发明申请
    Mobile Vehicle 失效
    手机

    公开(公告)号：US20070203622A1

    公开(公告)日：2007-08-30

    申请号：US11631260

    申请日：2005-06-24

    Applicant: Toshihiro Senoo ,  Keisuke Hara ,  Tsuyoshi Ogawa ,  Akihiro Okazaki

    Inventor： Toshihiro Senoo ,  Keisuke Hara ,  Tsuyoshi Ogawa ,  Akihiro Okazaki

    IPC: G01C22/00 ,  G05D1/00

    CPC classification number: G05D1/0253 ,  G05D2201/0203

    Abstract: Please amend the Abstract of the Disclosure currently of record as follows: A mobile vehicle which is provided with a moving means and a moving control device therefor, can automatically travel while detecting an advance distance and a turning angle by means of one optical displacement sensor, and can save on space and reduce costs. The mobile vehicle comprises a moving means (2) for moving a body (1), one optical displacement sensor (7) as a displacement sensor provided on the body (1), and a moving control device for controlling the moving means (2) based on a moving distance detected by the optical displacement sensor (7). The moving control device determines the distance of rectilinear movement and a turning angle of the body (1) from an amount detected by the optical displacement sensor (7). The optical displacement sensor (7) picks up patterns or the like on a traveling floor surface at specified time intervals and detects a moving distance by comparing images before and after a specified time. The above arrangement eliminates the need of providing a rotation sensor for detecting the rotation of a wheel, and therefore eliminates a restriction on space and reduces costs.

    Abstract translation: 请修改目前记载的公开摘要如下：具有移动装置和移动控制装置的移动车辆可以通过一个光学位移传感器检测到前进距离和转向角度而自动行进， 并可节省空间并降低成本。 移动车辆包括用于移动身体（1）的移动装置（2），设置在主体（1）上的位移传感器的一个光学位移传感器（7）和用于控制移动装置的移动控制装置， 基于由所述光学位移传感器（7）检测到的移动距离。 移动控制装置从由光学位移传感器（7）检测到的量确定直线运动的距离和主体（1）的转动角度。 光学位移传感器（7）以指定的时间间隔在行驶的地面上拾取图案等，并且通过比较在指定时间之前和之后的图像来检测移动距离。 上述结构不需要提供用于检测车轮旋转的旋转传感器，因此消除了对空间的限制并降低了成本。

    Programming of an extended path for an autonomous mobile unit for the subsequent traversing of path sections that are temporarily blocked
    233.
    发明授权
    Programming of an extended path for an autonomous mobile unit for the subsequent traversing of path sections that are temporarily blocked 失效
    编程用于自动移动单元的扩展路径，用于随后遍历临时阻止的路径段

    公开(公告)号：US07251548B2

    公开(公告)日：2007-07-31

    申请号：US10485557

    申请日：2002-08-02

    Applicant: Torsten Herz ,  Michael Fiegert

    Inventor： Torsten Herz ,  Michael Fiegert

    IPC: G01C22/00 ,  G05D1/02 ,  G05D1/00 ,  G05B19/18

    CPC classification number: A01D34/008 ,  A01D2101/00 ,  A47L2201/04 ,  G05D1/0219 ,  G05D1/0274 ,  G05D2201/0203

    Abstract: When a sub-section of a predefined path temporarily cannot be traversed by an autonomous mobile unit, an extended path is found for subsequently traversing the temporarily blocked sub-section. A first path point of the predefined path is determined using at least one predefinable distance criterion, which takes into consideration the distance of the temporarily blocked sub-section from the first path point. An extension sub-section is determined which begins at the first path point, terminates at a second path point of the predefined path and encompasses at least the temporarily blocked sub-section. The extended path is programmed with the extension sub-section being integrated into the predefined path at the first path point.

    Abstract translation: 当预定义路径的子部分临时不能被自主移动单元遍历时，发现扩展路径用于随后遍历临时阻止的子部分。 使用至少一个可预定距离标准来确定预定义路径的第一路径点，其考虑到暂时阻止的子部分与第一路径点的距离。 确定从第一路径点开始的扩展子部分，终止于预定路径的第二路径点，并且至少包含临时阻止的子部分。 扩展路径被编程，扩展子部分被集成到第一路径点处的预定义路径中。

    APPARATUS AND METHOD FOR CONTROLLING CAMERA OF ROBOT CLEANER
    234.
    发明申请
    APPARATUS AND METHOD FOR CONTROLLING CAMERA OF ROBOT CLEANER 有权
    用于控制机器人清洁器的摄像机的装置和方法

    公开(公告)号：US20070100501A1

    公开(公告)日：2007-05-03

    申请号：US11553289

    申请日：2006-10-26

    Applicant: Hyoung-deuk IM ,  IL-kyun JUNG

    Inventor： Hyoung-deuk IM ,  IL-kyun JUNG

    IPC: G05B15/00

    CPC classification number: G05D1/0246 ,  A47L9/009 ,  A47L2201/04 ,  G05D2201/0203

    Abstract: Disclosed are an apparatus and a method for controlling a camera mounted at a robot cleaner in order to sense obstacles and perform position compensation. The apparatus for controlling a camera of a robot cleaner includes a first axis driver for driving a camera mounted at the robot cleaner in a first axis direction; a second axis driver 320 for driving the camera in a second axis direction other than the first axis direction; an image processor 330 for receiving and processing an image photographed by the camera; and a control section 340 for controlling the first axis driver and the second axis driver, and controlling a traveling of the robot cleaner based on the image photographed by the camera.

    Abstract translation: 公开了一种用于控制安装在机器人清洁器上的相机的装置和方法，以便感测障碍物并执行位置补偿。 用于控制机器人清洁器的照相机的设备包括：第一轴驱动器，用于驱动安装在机器人清洁器处的第一轴向的相机; 第二轴驱动器320，用于在第一轴方向以外的第二轴方向上驱动摄像机; 用于接收和处理由照相机拍摄的图像的图像处理器330; 以及用于控制第一轴驱动器和第二轴驱动器的控制部分340，并且基于由相机拍摄的图像来控制机器人清洁器的行进。

    Location mark detecting method for robot cleaner and robot cleaner using the method
    238.
    发明授权
    Location mark detecting method for robot cleaner and robot cleaner using the method 失效
    使用该方法的机器人清洁器和机器人清洁器的位置标记检测方法

    公开(公告)号：US07184586B2

    公开(公告)日：2007-02-27

    申请号：US10439127

    申请日：2003-05-15

    Applicant: Kyong-hui Jeon ,  Jeong-gon Song

    Inventor： Kyong-hui Jeon ,  Jeong-gon Song

    IPC: G06K9/00

    CPC classification number: G05D1/0234 ,  A47L2201/04 ,  G01S5/16 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D2201/0203 ,  G06T7/73

    Abstract: A location mark detecting method of a robot cleaner capable of accurately detecting location marks from an image captured by an upwardly looking camera. The location mark detecting method comprises the steps of obtaining from the image object marks to be compared with the reference location marks, determining whether shapes of the object marks are identical to those of the reference location marks, determining whether a distance separating the object marks is identical to that between the reference location marks if it is determined that the shapes are identical, determining whether a surrounding image of the object marks is identical to that of the reference location marks if it is determined that the distances are identical, and identifying the object marks as the location marks if it is determined that the surrounding images are identical. A robot cleaner capable of wirelessly communicating with an external device comprises a driving unit, an upwardly-looking camera for capturing an image of a ceiling above an area to be cleaned on which location marks are disposed, and a control unit for detecting the location marks from the image captured by the upwardly-looking camera, the control unit commanding the driving unit utilizing information of the current location to perform a work command.

    Abstract translation: 一种机器人清洁器的位置标记检测方法，其能够从由向上看的相机拍摄的图像中精确地检测位置标记。 位置标记检测方法包括以下步骤：从要与参考位置标记进行比较的图像对象标记获得，确定对象标记的形状是否与参考位置标记的形状相同，确定分离对象标记的距离是否为 如果确定形状相同，则确定对象标记的周围图像是否与参考位置标记的周围图像相同，如果确定距离相同，并且识别对象，则与参考位置标记之间相同 如果确定周围图像相同，则标记为位置标记。 能够与外部设备无线通信的机器人清洁器包括驱动单元，用于在其上设置有位置标记的待清洁区域上方捕获天花板上方的图像的驱动单元，以及用于检测位置标记的控制单元 所述控制单元利用所述向上观察的相机拍摄的图像，利用所述当前位置的信息来命令所述驱动单元来执行作业命令。

    Self-guided cleaning robot, self-guided robot, and program product for performing method for controlling travel of self-guided robot
    239.
    发明申请
    Self-guided cleaning robot, self-guided robot, and program product for performing method for controlling travel of self-guided robot 审中-公开
    自导向清洁机器人，自导向机器人和程序产品，用于执行自动引导机器人行进的控制方法

    公开(公告)号：US20060253224A1

    公开(公告)日：2006-11-09

    申请号：US11430362

    申请日：2006-05-09

    Applicant: Takao Tani ,  Hiroyuki Takenaka

    Inventor： Takao Tani ,  Hiroyuki Takenaka

    IPC: G06F19/00

    CPC classification number: G05D1/0246 ,  G05D1/0242 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203

    Abstract: A self-guided robot for traveling with a predetermined traveling pattern includes a gyro sensor for detecting an angle indicative of a traveling direction from a reference position, a left rotary encoder and a right rotary encoder for detecting a traveling distance from the reference position, left and right driving wheels for allowing a main body to move, and a left driving wheel motor and a right driving wheel motor for driving the left and right driving wheels for travel. A CPU calculates a deviation amount from a planned route on the basis of detection amounts from gyro sensor, left rotary encoder and right rotary encoder, and controls the driving of left driving wheel motor and right driving wheel motor on the basis of the calculated deviation amount.

    Abstract translation: 用于以预定的行进图案行进的自行导向机器人包括用于检测来自基准位置的行进方向的角度的陀螺仪传感器，用于检测从基准位置的行进距离的左旋转编码器和右旋转编码器 以及用于允许主体移动的右驱动轮，以及用于驱动左右驱动轮用于行驶的左驱动轮电动机和右驱动轮电动机。 基于来自陀螺仪传感器，左旋转编码器和右旋转编码器的检测量，CPU根据计划路线计算偏差量，并根据计算的偏差量控制左驱动轮马达和右驱动轮马达的驱动 。

    Cleaning robot having auto-return function to charging-stand and method using the same
    240.
    发明申请
    Cleaning robot having auto-return function to charging-stand and method using the same 审中-公开
    带充电台自动返回功能的清洁机器人及其使用方法

    公开(公告)号：US20060241814A1

    公开(公告)日：2006-10-26

    申请号：US11300449

    申请日：2005-12-15

    Applicant: Il-Kyun Jung

    Inventor： Il-Kyun Jung

    IPC: G06F19/00

    CPC classification number: G05D1/0225 ,  G05D1/0246 ,  G05D2201/0203

    Abstract: Disclosed herein is a cleaning robot, and more particularly a cleaning robot comprising a camera unit for photographing an external image containing the charging-stand image, converting it into electrical image information, and outputting externally; and a microprocessor for storing the image information inputted the camera unit, acquiring position information of the charging-stand from the external image on the basis of the image information of the charging-stand in detecting a return signal, and causing the cleaning robot to be returned to the charging-stand. The cleaning robot having an auto-return function to a charging-stand detects a direction and position of the charging-stand using image information of the charging-stand, and thereby correctly and rapidly returning to the charging-stand for the cleaning robot.

    Abstract translation: 这里公开了一种清洁机器人，更具体地说，涉及一种清洁机器人，其包括用于拍摄包含充电站图像的外部图像的照相机单元，将其转换为电气图像信息并从外部输出; 以及微处理器，用于存储输入摄像机单元的图像信息，在检测到返回信号时，根据充电台的图像信息从外部图像获取充电站的位置信息，并使清洁机器人成为 返回充电台。 具有对充电台的自动返回功能的清洁机器人使用充电台的图像信息来检测充电台的方向和位置，从而正确且快速地返回到用于清洁机器人的充电台。

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